JP6412457B2 - 運転支援装置、及び運転支援方法 - Google Patents

運転支援装置、及び運転支援方法 Download PDF

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Publication number
JP6412457B2
JP6412457B2 JP2015072921A JP2015072921A JP6412457B2 JP 6412457 B2 JP6412457 B2 JP 6412457B2 JP 2015072921 A JP2015072921 A JP 2015072921A JP 2015072921 A JP2015072921 A JP 2015072921A JP 6412457 B2 JP6412457 B2 JP 6412457B2
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Japan
Prior art keywords
target
delay
collision
host vehicle
collision avoidance
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JP2015072921A
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English (en)
Japanese (ja)
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JP2016192165A (ja
JP2016192165A5 (enrdf_load_stackoverflow
Inventor
明憲 峯村
明憲 峯村
渉 池
渉 池
和希 根本
和希 根本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Toyota Motor Corp
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Denso Corp
Toyota Motor Corp
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Publication date
Application filed by Denso Corp, Toyota Motor Corp filed Critical Denso Corp
Priority to JP2015072921A priority Critical patent/JP6412457B2/ja
Priority to PCT/JP2016/057013 priority patent/WO2016158223A1/ja
Priority to DE112016001553.4T priority patent/DE112016001553T5/de
Priority to US15/562,299 priority patent/US10252716B2/en
Priority to CN201680019502.6A priority patent/CN107430820B/zh
Publication of JP2016192165A publication Critical patent/JP2016192165A/ja
Publication of JP2016192165A5 publication Critical patent/JP2016192165A5/ja
Application granted granted Critical
Publication of JP6412457B2 publication Critical patent/JP6412457B2/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2015072921A 2015-03-31 2015-03-31 運転支援装置、及び運転支援方法 Active JP6412457B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2015072921A JP6412457B2 (ja) 2015-03-31 2015-03-31 運転支援装置、及び運転支援方法
PCT/JP2016/057013 WO2016158223A1 (ja) 2015-03-31 2016-03-07 運転支援装置及び運転支援方法
DE112016001553.4T DE112016001553T5 (de) 2015-03-31 2016-03-07 Fahrunterstützungsvorrichtung und fahrunterstützungsverfahren
US15/562,299 US10252716B2 (en) 2015-03-31 2016-03-07 Driving assist apparatus and driving assist method
CN201680019502.6A CN107430820B (zh) 2015-03-31 2016-03-07 驾驶辅助装置以及驾驶辅助方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015072921A JP6412457B2 (ja) 2015-03-31 2015-03-31 運転支援装置、及び運転支援方法

Publications (3)

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JP2016192165A JP2016192165A (ja) 2016-11-10
JP2016192165A5 JP2016192165A5 (enrdf_load_stackoverflow) 2017-03-23
JP6412457B2 true JP6412457B2 (ja) 2018-10-24

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JP2015072921A Active JP6412457B2 (ja) 2015-03-31 2015-03-31 運転支援装置、及び運転支援方法

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Country Link
US (1) US10252716B2 (enrdf_load_stackoverflow)
JP (1) JP6412457B2 (enrdf_load_stackoverflow)
CN (1) CN107430820B (enrdf_load_stackoverflow)
DE (1) DE112016001553T5 (enrdf_load_stackoverflow)
WO (1) WO2016158223A1 (enrdf_load_stackoverflow)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6622584B2 (ja) 2015-12-25 2019-12-18 株式会社デンソー 運転支援装置及び運転支援方法
GB2554759B (en) * 2016-10-10 2020-02-19 Jaguar Land Rover Ltd Control of a vehicle emergency braking system
WO2018139871A1 (en) 2017-01-27 2018-08-02 Samsung Electronics Co., Ltd. Method, electronic apparatus, and system of sharing vehicle performance information among vehicles
CN106976459B (zh) * 2017-04-07 2019-10-25 京东方科技集团股份有限公司 车辆自动控制系统及其预防油门误操作的控制装置和方法
JP6822306B2 (ja) * 2017-05-11 2021-01-27 トヨタ自動車株式会社 運転支援装置
JP6690604B2 (ja) * 2017-06-29 2020-04-28 株式会社デンソー 衝突推定装置および衝突推定方法
JP2019036479A (ja) * 2017-08-18 2019-03-07 東芝ライテック株式会社 車両用照明装置および車両用灯具
JP6922617B2 (ja) 2017-09-28 2021-08-18 トヨタ自動車株式会社 車両制御装置
DE102017218788A1 (de) * 2017-10-20 2019-04-25 Honda Motor Co., Ltd. Fahrzeug-Fahrt-Unterstützungs-Vorrichtung
DE102017218789A1 (de) * 2017-10-20 2019-04-25 Honda Motor Co., Ltd. Fahrzeug-Fahrt-Unterstützungs-Vorrichtung
WO2019202735A1 (ja) * 2018-04-20 2019-10-24 三菱電機株式会社 運転監視装置および運転監視プログラム
JP6973290B2 (ja) * 2018-05-21 2021-11-24 株式会社デンソー 走行支援装置
JP7255240B2 (ja) * 2019-03-06 2023-04-11 株式会社デンソー 運転支援装置
US11118832B2 (en) 2019-04-17 2021-09-14 Whirlpool Corporation Shelf assembly with water dispenser and filtration system
DE102020204078A1 (de) * 2019-11-27 2021-05-27 Robert Bosch Gesellschaft mit beschränkter Haftung Fahrerassistenzsystem für Kraftfahrzeuge
JP7343840B2 (ja) * 2020-01-24 2023-09-13 トヨタ自動車株式会社 車両制御装置
JP7393097B2 (ja) * 2020-02-14 2023-12-06 トヨタ自動車株式会社 車両制御装置
CN111674395B (zh) * 2020-05-28 2021-10-01 长城汽车股份有限公司 车辆控制方法、装置及系统
JP7468409B2 (ja) * 2021-03-01 2024-04-16 トヨタ自動車株式会社 車両衝突回避支援装置

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JP3972491B2 (ja) * 1998-11-16 2007-09-05 マツダ株式会社 車両の制御装置
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JP6521430B2 (ja) 2015-03-20 2019-05-29 株式会社Ｓｕｂａｒｕ 車両の運転支援装置
JP6535194B2 (ja) * 2015-03-31 2019-06-26 株式会社デンソー 車両制御装置、及び車両制御方法
JP6453695B2 (ja) * 2015-03-31 2019-01-16 株式会社デンソー 運転支援装置、及び運転支援方法

Also Published As

Publication number Publication date
DE112016001553T5 (de) 2018-01-04
CN107430820B (zh) 2020-08-18
US10252716B2 (en) 2019-04-09
JP2016192165A (ja) 2016-11-10
WO2016158223A1 (ja) 2016-10-06
US20180118203A1 (en) 2018-05-03
CN107430820A (zh) 2017-12-01

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